JP2003202377A - Radar device for being installed on vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To realize a radar device for being installed on a vehicle, which can surely detect an existence of a target and early activate the own vehicle in response to a stop and a start of the target. <P>SOLUTION: A signal processing section 101 judges whether a relative velocity to a preceding vehicle is zero or not. If the relative velocity is zero, the existence of the preceding vehicle is stored into a memory means of the signal processing section 101. Information of the preceding vehicle is output to an ACC system in accordance with the stored information. Therefore, a laser device can recognize the existence of the preceding vehicle even in the case the relative velocity to the preceding vehicle becomes zero. When a stop motion of the preceding vehicle is judged, a break controlling section controls a break system so that a constant breaking force is applied by eliminating a play of the break. When a start motion of the preceding vehicle is judged, the control is carried out so that a constant breaking force is removed. The start and stop of the preceding vehicle can be early detected based on the radar information by setting a judging section which judges only the stop or start of the preceding vehicle, aside from a section which calculates a distance and the relative velocity to the preceding vehicle. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inter-vehicle distance warning device and an automatic inter-vehicle distance control ACC (AdaptiveCrui).
The present invention relates to a vehicle-mounted radar device used for se control, etc.

[0002]

2. Description of the Related Art An inter-vehicle distance warning device is disclosed, for example, in Japanese Patent Laid-Open No.
As described in Japanese Patent Laid-Open No. 1-66496, the distance between the host vehicle and the preceding vehicle or the front obstacle and the relative speed are detected by some distance sensor, and the host vehicle speed is obtained by taking in a meter pulse signal. Is calculated and calculated.

The inter-vehicle distance warning device is provided with an inter-vehicle distance,
It is a device that uses parameters such as relative speed and own vehicle speed to determine a dangerous approach distance between the own vehicle and the preceding vehicle, and alerts the driver with an alarm sound or the like when they are too close.

In addition, ACC (Adaptive Cru)
is Control) device is disclosed in, for example, Japanese Patent Laid-Open No.
As described in JP-A-39586, it is a device that automatically follows the vehicle while automatically adjusting the vehicle speed so that the set safe inter-vehicle distance from the preceding vehicle is maintained.

Here, the own vehicle speed fetched from the vehicle speed pulse signal is used for the calculation of the preceding vehicle speed using the own vehicle speed and the relative speed and the own vehicle speed control of the ACC.

As a distance measuring sensor, a sensor using a laser radar and a sensor using a millimeter wave radar are generally known as known techniques.

Among them, the millimeter wave radar is one which sends out an electric wave from a transmitting antenna and receives a reflected wave from a target such as a vehicle to detect a distance to the target and a relative speed.

The millimeter-wave radar modulation method is FMCW (F
frequency Modulated Contin
uos Wave) method and FSK (Frequency)
Several such as the Shift Keying method have been proposed.

Among these, the principle of distance / relative velocity detection by the FSK method will be described with reference to FIGS. 8 and 9.

In FIGS. 8 and 9, two types of frequencies f ₁ and f ₂ are periodically switched above and below the center frequency f ₀ by the transmitting antenna (millimeter wave laser 3) of the radar-equipped vehicle 1 (transmitting section). (Switching between 31 and 32) and transmitting to the target (preceding vehicle 2), the Doppler frequencies f _d1 and f _d2 that are reflected back from the target are used to transmit between the radar-equipped vehicle 1 and the target. Find distance and relative velocity.

Since the relative velocity with respect to the target is directly obtained from the Doppler shift frequency and the transmission frequency f ₁ (f ₂ ), it is known that the measured value of the relative velocity is very accurate.

For this reason, many absolute vehicle speed sensors for vehicles using this characteristic have been proposed. In the FSK millimeter-wave radar, whether the detected target is a stationary object or a moving object is determined by comparing the absolute value of the relative speed detected at the Doppler shift frequency with the own vehicle speed obtained from the vehicle speed pulse. .

FIG. 10 shows spectral waveform data obtained by FFT (fast Fourier transform) analysis of data sampled by the A / D converter (detected reflected wave data).

In FIG. 10, it can be seen that there is only one stationary object peak indicated by reference numeral 27. However, it is generally known that a plurality of stationary objects having completely equal relative velocities have only one Doppler shift frequency and cannot be separately detected.

On the other hand, conventionally known methods for obtaining the vehicle speed from the meter pulse signal include a pulse counting method, an inter-pulse period measuring method and a period measuring + pulse counting method.

Among these, the principle of calculating the own vehicle speed by the cycle measurement + pulse count method will be described with reference to FIG.

In FIG. 11, a pulse generation gear 201 is shown.
As shown in FIG. 11A, the signal from the pickup sensor 200 that detects the rotation of the waveform is shaped by the waveform shaping circuit 202 and input to the radar 3 as a square wave vehicle speed pulse 203.

This method, as shown in FIG.
For each predetermined measurement period T _O , the number of pulses n in that period n
Then, the vehicle speed is converted after determining the number of revolutions by n / T from the pulse period T between them.

In this way, the vehicle speed is calculated.

[0020]

However, the radar apparatus using the FSK millimeter-wave radar having the multirate signal processing method in the above-mentioned conventional technique has various advantages, but has the following problems. .

In other words, if there is a small relative speed between the own vehicle speed and the preceding vehicle, etc., there is a Doppler frequency, and the target can be detected immediately. When the speed became completely 0 or the Doppler frequency became completely 0, there was a situation in which it could not be determined that the target existed, although the target existed.

Further, the automatic inter-vehicle distance control (ACC) system is considered to be applied not only to high speed follow-up running but also to traffic jam running.

In this traffic jam, stopping and starting of the preceding vehicle are repeated. However, the movement of the preceding vehicle stopping and starting can be detected early by the radar device alone so that the own vehicle can be started and stopped early. It is an important issue to improve the controllability of the ACC system, the riding comfort, or the cost reduction.

However, in the prior art, as described above, despite the existence of the target,
Depending on the situation in which it cannot be determined that the target exists, and the movement of the preceding vehicle to stop and start, the host vehicle could not operate early. It was difficult to apply.

An object of the present invention is to realize a vehicle-mounted radar device capable of reliably detecting the presence of a target and capable of operating the host vehicle early in response to the stop and start of the target.

[0026]

In order to achieve the above object, the present invention is configured as follows. (1) It has a measurement calculation unit that radiates a radiated wave, receives a reflected wave from an object, and calculates a distance to a preceding object and a relative speed, and outputs an output signal of the measurement calculation unit from the vehicle. In the vehicle-mounted radar device that is supplied to the inter-vehicle distance automatic control unit, when the measurement calculation unit determines that there is no significant difference in the relative speed between the preceding object and the host vehicle, the distance and the relative distance between the detected preceding object and the relative object are detected. The speed information is stored, and the stored information or the detection state flag is supplied to the inter-vehicle distance automatic control unit.

(2) Preferably, in the above (1),
The measurement calculation unit includes a distance / relative speed calculation unit that calculates a distance to the preceding object and a relative speed, and a stop / start determination unit that determines a stopping operation and a starting operation of the preceding object.

(3) Further, preferably, in the above (2), the stop / start determination unit stops the preceding object when the ground speed of the preceding object is detected in the opposite direction before and after a predetermined time. It is determined that there is movement.

(4) Further, preferably, in the above (1), the measurement calculation unit determines that the ground speed of the preceding object is 0 or more, after determining that the preceding object has stopped. If the value is less than or equal to, it is determined that the preceding object is stopped.

(5) Further, preferably, in the above (1) or (2), when the stopping operation of the preceding object is detected, a constant braking force is increased in advance to detect the starting operation of the preceding object. At this time, a signal for reducing a constant braking force is supplied to the inter-vehicle distance automatic control unit in advance.

(6) Further, preferably, in the above (5), when the stopping operation of the preceding object is detected, a signal for increasing the constant braking force and stopping the engine is output in advance to output the preceding object. When a starting operation of an object is detected, a predetermined braking force is reduced in advance, signals for starting the engine are output, and these output signals are supplied to the inter-vehicle distance automatic control unit.

[0032]

DESCRIPTION OF THE PREFERRED EMBODIMENTS First, the basic technical idea of the present invention will be described. In the vehicle-mounted radar device according to the present invention, the relative speed with respect to the running preceding vehicle (preceding object) is completely 0,
Alternatively, when the significant difference disappears or the Doppler frequency becomes completely 0, the detected preceding vehicle information up to that point is temporarily stored. As a result, the presence of the preceding vehicle can be surely recognized.

Further, a judgment unit for judging only the stop / start of the preceding vehicle is provided separately from the calculating unit of the distance and the relative speed with respect to the preceding vehicle so that the stop / start of the preceding vehicle can be detected early.

Furthermore, when the movement of the preceding vehicle at the time of starting or stopping is detected, it is determined whether or not the breaking force of the own vehicle is reduced or increased in advance by a certain amount regardless of the distance between the preceding vehicle and the preceding vehicle. It is provided with a device structure and a signal processing algorithm that can early start the brake control.

Embodiments of the present invention will be described below with reference to the accompanying drawings. First, referring to FIG. 1, a schematic configuration of a vehicle-mounted radar device according to an embodiment of the present invention will be described.

The example shown in FIG. 1 is an example of an inter-vehicle distance automatic control (ACC) system using a millimeter wave radar, in which the millimeter wave radar device 3 detects information (inter-vehicle distance Relative velocity / azimuth angle 4 is measured.

The lane judgment of the lane in which the preceding vehicle is located is performed by using the detected information data and the yaw rate information detected by the ACC control unit 11. When the preceding vehicle 2 is in the own lane, the detected information (inter-vehicle distance, relative speed, azimuth angle) or the set inter-vehicle distance threshold is used to
The CC control unit 11 determines the acceleration / deceleration of the vehicle.

Then, the ACC control section 11 determines the actuator 5 (brake control 5a, engine control 5b, power train control 5) based on the determination of the acceleration / deceleration of the vehicle.
The inter-vehicle distance 4 with respect to the preceding vehicle 2 is automatically adjusted by comprehensively controlling the brake, the power train, and the like in c).

Here, the determination as to whether the target 2 is a moving body or a stationary object can be made by comparing the relative speed with the target 2 and the vehicle speed.

FIG. 2 shows the internal structure of the radar device 3.
It is a signal processing block diagram of radar detection information. In FIG. 2, the transmitter 118 transmits at a transmission frequency based on the modulation signal from the modulator 117, and the transmitted high frequency signal is radiated from the transmission antenna 110.

A radio signal returned from a high-frequency signal radiated from the transmitting antenna 110 after being reflected from an object such as a vehicle or an obstacle is received by the receiving antenna 111 and subjected to frequency conversion by the mixer 112.

A part of the output signal of the oscillator 118 is supplied to the mixer 112 via a directional coupler. The signal from the oscillator 118 and the received signal received by the receiving antenna 111 are supplied. The beat signal generated by mixing is sent to the analog circuit 113.

The beat signal output from the analog circuit 113 is converted into a digital signal by the A / D converter 114 and supplied to the FFT (Fast Fourier Transform) unit 102.

Then, the FFT unit 102 measures the amplitude and phase of the frequency spectrum of the beat signal by the fast Fourier transform, and acquires them, and the distance of the tracking tracking calculation unit 105, the relative speed calculation unit 105a, and the preceding vehicle stop / start judgment unit 10 are measured.
Send to 5b.

In the distance and relative speed calculation unit 105a, FF
The frequency, amplitude, and phase information of the peak signal output from the T unit 102 is converted into distance and relative velocity information and output as radar measurement values. The ground speed of the preceding vehicle is calculated from the own vehicle speed input from the vehicle speed sensor 103 and the relative speed detected by the radar.

Next, while the preceding vehicle is stopped, the ground speed of the vehicle is also zero.
The information such as the inter-vehicle distance, the azimuth angle, and the relative speed with respect to the preceding vehicle, which is detected at the time of, is temporarily stored. Then, the preceding vehicle stop / start determination unit 105b determines that the preceding vehicle has started or has stopped within a short period of time since the start (for example, a situation in which the vehicle repeatedly travels in a traffic jam and stops).

This requires a certain amount of processing time because the distance and relative speed calculation unit 105a needs to calculate the inter-vehicle distance and the relative speed, but it does not need to calculate the inter-vehicle distance and the relative speed. This is because when it is determined whether the vehicle has started or stopped, the processing time is shorter than when the inter-vehicle distance and the relative speed are calculated.

Therefore, it is possible to determine early whether the preceding vehicle has started or stopped.

Next, this measurement calculation unit 105 (distance and relative speed calculation unit 105a, preceding vehicle stop start determination unit 105b)
The preceding vehicle stop / start determination processing will be described.

FIG. 3 is a graph showing changes in the ground speed of the preceding vehicle detected by the Doppler radar. In FIG. 3, symbol D indicates that the ground speed of the preceding vehicle is "+" to "-".
After that, the sign E became 0 and the car stopped. From the fact of the change in the ground speed, it is understood that the radar can accurately detect the forward and backward movement of the body bouncing while the preceding vehicle is stopped.

Further, it can be seen from FIG. 3 that when the preceding vehicle starts to start near time 0, the radar quickly detects its movement. In the following, the Doppler radar has a feature that it has a high resolution with respect to the relative speed, determines whether the preceding vehicle is started or stopped, and uses the determination result,
The braking force in the inter-vehicle distance control system is controlled in advance.

FIG. 4 is a processing flowchart for detecting the movement of the preceding vehicle stopped by the millimeter wave radar device 3 while the host vehicle is traveling in the vehicle-mounted radar device according to the embodiment of the present invention.

In FIG. 4, first, the time t (current time) detected by the radar is multiplied by the ground speed of the preceding vehicle in the previous time frame (t-Δt), which is Δt past the current time (step S500). ).

It is judged whether the obtained multiplication value is a "-" value or a "+" value (step S501). If the multiplication value is "-",
It is determined that the preceding vehicle has a movement to stop (step S5).
02). This is because, as shown in FIG. 3, the ground speed of the preceding vehicle becomes negative immediately before the preceding vehicle stops.

Next, from time t, time (t + N * Δt)
Up to, for example, about 1 second, time t and time (t +
The sum of the ground speeds of preceding vehicles of Δt) is calculated (step S50).
3) The number of times the sum of ground speeds is 0 is counted (step S504).

Then, it is judged whether or not the number of counters in step S504 is 1 or more (step S505), 1
In the above case, it is determined that the preceding vehicle has stopped (step S
506).

If the counter number is less than 1 in step S505, it is determined that the preceding vehicle is moving, and the stop motion determination flag is cleared (step S507).

Then, the process returns to the process (step S500) of multiplying the time t detected by the radar by the preceding vehicle ground speed of the previous time frame (t-Δt).

If the multiplication value is not negative in step S501, it is determined whether the relative speed is 0 (step S508). If the relative speed is not 0, the process returns to step S500.

In step S508, the relative speed is 0.
If so, it is determined that the relative speed with respect to the preceding vehicle has become 0, although the preceding vehicle exists, and the presence of the preceding vehicle is stored in the storage unit (not shown) of the signal processing unit 101 (step). S509). Then, the preceding vehicle information is output to the ACC device or the like according to the stored information, and the process returns to step S500.

As a result, even when the relative speed to the preceding vehicle becomes 0, the radar device can recognize the existence of the preceding vehicle.

FIG. 5 shows the millimeter wave radar device 3 in the radar device according to the embodiment of the present invention while the host vehicle is running.
5 is a processing flowchart for detecting a movement of the preceding vehicle starting from a stop state.

In FIG. 5, first, the ground speed of the preceding vehicle determined to be stopped by the radar device 3 is calculated using the detected own vehicle speed and relative speed (step S600).
Next, it is determined whether or not the absolute value of the ground speed of the preceding vehicle is larger (step S601), and if the ground speed of the preceding vehicle is other than 0, it is determined that the preceding vehicle has a movement to start (step S601). S602). Also, in step S601,
If the ground speed is 0, it is determined that the preceding vehicle has no motion to start (step S605).

Following step S602 in which it is determined that there is a movement for starting the preceding vehicle, the absolute value of the ground speed is approximately 1 [m / m].
[s] is exceeded (step S603), and if the absolute value of the ground speed of the preceding vehicle exceeds approximately 1 [m / s], it is determined that this preceding vehicle has started (S604).

On the contrary, when it is determined in step S603 that the ground speed of the preceding vehicle is about 1 [m / s] or less,
It can be determined that the preceding vehicle is still stopped (step S606).

In step S603, it is determined whether or not the vehicle is at a stop depending on whether or not the absolute value of the ground speed of the preceding vehicle exceeds about 1 [m / s]. Even in the middle, due to the vibration of the muffler of the preceding vehicle,
This is to avoid erroneous determination that the ground speed is not 0, and if the value can avoid erroneous determination, the determination value is 1.
It is not limited to [m / s].

FIG. 6 is a processing flowchart in which the millimeter wave radar device 3 performs the radar output process while the preceding vehicle and the own vehicle are both stopped in the radar device according to the embodiment of the present invention.

In FIG. 6, step S5 shown in FIG.
At 06, it is determined whether or not there is a flag that determines that the preceding vehicle has stopped (step S700). If the preceding vehicle is stopped, the preceding vehicle information is stored (step S701).

Subsequent to step S701, it is judged whether or not the own vehicle speed has also become 0 (step S702). When it is judged that the own vehicle speed has become 0, the stored preceding vehicle information is set as the radar detection value. Continue to output (step S70
3).

FIG. 7 shows that in the radar apparatus according to the embodiment of the present invention, when the millimeter wave radar apparatus 3 detects the movement of the preceding vehicle to stop or start, the vehicle can be operated early in accordance with the detected movement. 7 is a flowchart of a process executed to achieve the above.

In FIG. 7, it is determined in step S700 shown in FIG. 6 that the preceding vehicle is in motion while the host vehicle is traveling, and it is determined whether or not there is a flag indicating this (step S800). .

If it is determined in step S800 that the preceding vehicle has a motion to stop, the normal A
In order to eliminate the amount of brake play in the CC control state,
The brake control unit 5a controls the brake system of the own vehicle so that a constant braking force is applied in advance (step S
801).

When it is determined in step S800 that the preceding vehicle has no motion to stop, it is determined whether the preceding vehicle has a motion to start when both the subject vehicle and the preceding vehicle are stopped. (Step S802).

If it is determined in step S802 that the preceding vehicle has a movement to start, control is performed so that a constant braking force is removed in advance in the normal ACC control state (step S803).

In step S802, when the movement of the preceding vehicle to start is not detected, the normal ACC control state is maintained (step S804).

By the above processing, the preceding vehicle is stopped,
The start can be detected early, and the detected preceding vehicle can be stopped or stopped.
Depending on the start, it is configured to control the amount of brake play or to remove a certain amount of braking force.
The automatic inter-vehicle distance control system can be applied to traffic jams.

An engine control system for automatically stopping the engine when a certain condition is satisfied while waiting for a signal, and then automatically starting the engine when a condition such as starting of a preceding vehicle is satisfied. However, it is also possible to apply the present invention to that system.

In this case, following step S803 in FIG. 7, when the start of the preceding vehicle is detected after the engine is stopped, a step of reducing the braking force by a certain amount is added together with or after the engine is started. Become.

Although the above-described example is an example in which the present invention is applied to an automobile, the present invention can be applied to other than automobiles.

For example, the present invention can be applied to an automatic carrier in a production factory. If the present invention is applied to an automatic guided vehicle, the traveling of a plurality of automatic guided vehicles is automatically controlled, and the transportation of parts and the like can be performed safely and promptly.

In the above example, the millimeter wave is used, but not limited to the millimeter wave, a radiation wave such as another radio wave may be used, and a laser beam may be used.

[0082]

According to the present invention, the vehicle-mounted radar device detects the inter-vehicle distance, azimuth angle and relative speed with respect to the preceding vehicle detected when the preceding vehicle is stopped and the ground speed of the vehicle is also zero. Is temporarily stored, and the stored preceding vehicle information is continuously output as a radar detection result until it is determined that the preceding vehicle is started. Further, even when the relative speed between the vehicle equipped with the radar and the preceding vehicle becomes completely 0, information such as the inter-vehicle distance to the preceding vehicle detected up to then is temporarily stored and continuously output as the detection result of the radar. .

Therefore, even if the relative speed between the radar-equipped vehicle and the target vehicle is completely zero or the Doppler frequency is completely zero, the existence of the target can be surely recognized.

Further, a judgment unit for judging only whether the target is stopped or started is provided separately from the calculation unit for calculating the distance to the target and the relative speed based on the radar information. It is possible to detect the start and stop of the vehicle at an early stage, and it is possible to apply the automatic inter-vehicle distance control system to traffic congestion.

Furthermore, when the start and stop movements of the preceding vehicle are detected, regardless of the distance between the preceding vehicle and the preceding vehicle,
Since it is configured in advance to determine whether to reduce or increase a certain braking force to operate the brake control earlier, it is possible to ensure safe and prompt vehicle operation during traffic congestion of the vehicle.

That is, it is possible to realize a vehicle-mounted radar device capable of reliably detecting the presence of the target and capable of operating the host vehicle early in response to the stop and start of the target.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a vehicle-mounted radar device according to an embodiment of the present invention.

FIG. 2 is a signal processing block diagram of a radar device.

FIG. 3 is a graph showing an example of ground speed from start to stop of a preceding vehicle detected by a radar.

FIG. 4 is a signal processing flowchart for detecting a stop of a preceding vehicle in the radar device according to the embodiment of the present invention.

FIG. 5 is a signal processing flowchart for detecting starting of a preceding vehicle in the laser device according to the embodiment of the present invention.

FIG. 6 is a flowchart for radar output processing when both the preceding vehicle and the own vehicle are stopped in the laser device according to the embodiment of the present invention.

FIG. 7 is a flowchart of an ACC control process for controlling the operation of the own vehicle according to the start or stop of the preceding vehicle in the laser device according to the embodiment of the present invention.

FIG. 8 is a schematic explanatory diagram of an FSK monopulse type millimeter-wave radar.

FIG. 9 is an explanatory view of a principle of detecting a distance and a relative speed of the FSK millimeter wave radar.

FIG. 10 is a graph showing an FFT spectrum waveform and peak data.

FIG. 11 is an explanatory diagram of a method of calculating a vehicle speed from a vehicle speed pulse sensor.

[Explanation of symbols]

1 radar-equipped vehicle 2 preceding vehicle 3 millimeter-wave radar device (vehicle-mounted laser device) 5 actuator 5a brake control unit 5b engine control unit 5c powertrain control unit 6 inter-vehicle distance automatic control unit 11 ACC control device 101 signal processing unit 102 FFT Unit 103 Vehicle speed sensor 105 Measurement calculation unit 105a Distance and relative speed calculation unit 105b Leading vehicle stop / start determination unit 110 Transmission antenna 111 Reception antenna 112 Mixer 113 Analog circuit unit 114 A / D converter 116 Timing control unit 117 Modulator 118 Transmission vessel

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Claims (6)

[Claims] 1. A measurement calculation unit that emits a radiated wave, receives a reflected wave from an object, and calculates a distance to a preceding object and a relative speed, and outputs an output signal of the measurement calculation unit. In the vehicle-mounted radar device that supplies the inter-vehicle distance automatic control unit of the vehicle, when the measurement calculation unit determines that there is no significant difference in the relative speed between the preceding object and the host vehicle, the distance to the detected preceding object is detected. And a relative speed information is stored, and the stored information or a detection state flag is supplied to the inter-vehicle distance automatic control unit. 2. The vehicle-mounted radar device according to claim 1, wherein the measurement calculation unit calculates a distance relative speed calculation unit that calculates a distance and a relative speed to the preceding object, and a stopping operation of the preceding object. A vehicle-mounted radar device, comprising: a stop start determination unit that determines a start operation. 3. The vehicle-mounted radar device according to claim 2, wherein the stop / start determination unit stops the preceding object when the ground speed of the preceding object is detected in the opposite direction before and after a predetermined time. A vehicle-mounted radar device characterized by determining that there is movement. 4. The vehicle-mounted radar device according to claim 1, wherein the measurement / calculation unit determines that the ground speed of the preceding object is 0 or more, after determining that the preceding object has stopped. When the value is less than or equal to, it is determined that the preceding object is stopped. 5. The vehicle-mounted radar device according to claim 1, wherein when a stopping operation of the preceding object is detected, a constant braking force is increased in advance, and a starting operation of the preceding object is detected. A vehicle-mounted radar device, which supplies a signal for reducing a constant braking force to the automatic inter-vehicle distance control unit in advance. 6. The vehicle-mounted radar device according to claim 5, wherein when a stopping operation of the preceding object is detected, a signal for increasing a predetermined braking force and stopping the engine is output in advance to output the preceding object. When a starting operation of an object is detected, a certain braking force is reduced in advance, a signal for starting the engine is output, and these output signals are supplied to the above-described inter-vehicle distance automatic control unit. Radar equipment.